Optical image stabilization techniques

ABSTRACT

An optical image stabilization (OIS) of a camera system includes a controller, a lens and an image stabilizing arrangement (ISA), including one or both of an actuator and an image sensor. The controller is receives measured camera motion information from at least one motion sensor. Prior to acquisition of a succession of image frames, the controller determines a first desired start position, for the camera lens and/or the image sensor and, during acquisition of each respective image frame in the succession of image frames, causes the ISA to shift the camera lens and/or the image sensor so as to compensate for the measured camera motion. During a time interval that falls at least partially between a first and a second successive frame, the controller causes the ISA to relocate the camera lens and/or image sensor to a second desired start position for the second successive frame.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is related to co-pending U.S. patent applicationSer. No. 16/175,692, filed concurrently herewith, entitled “OPTICALIMAGE STABILIZATION TECHNIQUES,” assigned to the assignee hereof andincorporated by reference in its entirety into the present application.

TECHNICAL FIELD

This disclosure relates to techniques for optical image stabilization(OIS), and more particularly to improving OIS performance of a camerasystem by reducing instances of a stabilization platform thereofreaching a range of motion limit, reducing power required and/oradjusting auto exposure parameters to account for OIS performance.

DESCRIPTION OF THE RELATED TECHNOLOGY

Optical Image Stability (OIS) techniques improve the performance ofcamera systems by counteracting image blur due to camera unsteadiness orjitter and/or to compensate for rolling shutter distortions during imagecapture. This may be particularly important for cameras implemented inhandheld devices such as mobile phones and tablet computing devices forstill or video images. As contemplated in this disclosure, OIStechniques may include operating one or more actuators coupled with acamera lens and/or a sensor that translate, tilt and/or rotate the lensand/or sensor relative to the camera system in at least one of thepitch, roll, and yaw directions.

An OIS arrangement may largely or completely compensate for effects ofcamera motion, including rotation (that may be measured gyroscopically,for example) and translation (that may be measured by an accelerometer,for example) and/or rolling shutter effects. Capability of the OISarrangement to compensate for these effects may be compromised whencamera motion exceeds a range of motion limit of the actuators. Inaddition, conventional OIS arrangements a significant amount of power.

Thus, improved motions improved OIS techniques are desirable.

SUMMARY

The systems, methods and devices of this disclosure each have severalinnovative aspects, no single one of which is solely responsible for thedesirable attributes disclosed herein.

One innovative aspect of the subject matter described in this disclosurerelates to an apparatus for optical image stabilization (OIS) of acamera system. The apparatus includes a lens of the camera system, animage stabilizing arrangement, the arrangement including one or both ofan image sensor optically coupled with the camera lens and an actuatormechanically coupled with the one or both of the lens and the imagesensor; and a controller. The controller is communicatively coupled withthe image stabilizing arrangement and at least one motion sensor formeasuring camera motion. The controller is configured to: receivemeasured camera motion information from the at least one motion sensor;prior to acquisition of a succession of image frames, determine a firstdesired start position, for one or both of the camera lens and the imagesensor; during acquisition of each respective image frame in thesuccession of image frames, cause the image stabilizing arrangement toshift or rotate one or both of the camera lens and the image sensor soas to compensate for the measured camera motion; and during a timeinterval that falls at least partially between a first successive frameand a second successive frame, relocate one or both of the camera lensand the image sensor to a second desired start position for the secondsuccessive frame.

In some examples, the controller may be configured to synchronouslyrelocate, during at least a portion of the time interval, one or both ofthe camera lens and the image sensor by controlling a slew motion of thecamera lens or image sensor.

In some examples, the controller may be configured to select at leastone of the first and second respective desired start position so as toreduce one or both of (i) likelihood of railing and (ii) powerconsumption.

In some examples, the respective desired start position may be proximateto a geometrically neutral position.

In some examples, the second desired start position may be disposed,with respect to a geometrically neutral position and with respect to anend position reached at completion of an immediately preceding frame,such that the geometrically neutral position is approximately midwaybetween the second desired start position and the end position.

In some examples, the time interval may fall entirely between the firstsuccessive frame and the second successive frame.

In some examples, the time interval may at least partially overlaps oneor both of the first successive frame and the second successive frame.

In some examples, the camera motion information may include one or bothof rotation and translation.

In some examples, the controller may be configured to drive the actuatorto relocate the lens.

In some examples, the motion sensor may include one or more of agyroscope, an accelerometer or other motion sensor.

In some examples, the controller may be configured to monitor andcontrol one or more of exposure time, effective readout time,lens/sensor relocation time and frame period. In some examples, thecontroller may be configured to control one or more of the exposuretime, the effective readout time, the lens/sensor relocation time andthe frame period so as to cause the sum of the exposure time, theeffective readout time and the lens/sensor relocation time to be lessthan the frame period.

According to some implementations, a method for optical imagestabilization (OIS) of a camera system includes: receiving, at acontroller, measured camera motion information from at least one motionsensor; during acquisition of a succession of image frames, determining,with the controller, a respective desired start position, for one orboth of a camera lens and an image sensor, for a respective image frame;during acquisition of the respective image frame, causing the imagestabilizing arrangement to shift, under direction of the controller, oneor both of the camera lens and the image sensor so as to compensate forthe measured camera motion; and during a time interval that falls atleast partially between a first successive frame and a second successiveframe, relocating, under direction of the controller, one or both of thecamera lens and the image sensor to a respective desired start positionfor the second successive frame.

In some examples, the method may further include synchronouslyrelocating, under direction of the controller, during at least a portionof the time interval, one or both of the camera lens and the imagesensor by controlling a slew motion of the camera lens or image sensor.

In some examples, the method may further include selecting, with thecontroller, the respective desired start position so as to reduce one orboth of (i) likelihood of railing and (ii) power consumption.

In some examples, the respective desired start position may be proximateto a geometrically neutral position.

In some examples, the respective desired start position may be disposed,with respect to a geometrically neutral position and with respect to anend position reached at completion of an immediately preceding frame,such that the geometrically neutral position is approximately midwaybetween the start position and the end position.

In some examples, the time interval may fall entirely between the firstsuccessive frame and the second successive frame.

In some examples, the time interval may at least partially overlap oneor both of the first successive frame and the second successive frame.

In some examples, the camera motion information may include one or bothof rotation and translation.

In some examples, relocating the camera lens may include driving anactuator with the controller.

Ins some examples, the method may further include monitoring andcontrolling, with the controller, one or more of exposure time,effective readout time, lens/sensor relocation time and frame period.

In some examples, controlling one or more of the exposure time, theeffective readout time, the lens/sensor relocation time and the frameperiod may include causing the sum of the exposure time, the effectivereadout time and the lens/sensor relocation time to be less than theframe period.

According to some implementations, in a non-transitory computer readablemedium storing program code to be executed by a controller, the programcode includes instructions configured to cause the controller to:receive measured camera motion information from at least one motionsensor; during acquisition of a succession of image frames, determine arespective desired start position, for one or both of a camera lens andan image sensor, for a respective image frame; during acquisition of therespective image frame, cause the image stabilizing arrangement to shiftone or both of the camera lens and the image sensor so as to compensatefor the measured camera motion; and during a time interval that falls atleast partially between a first successive frame and a second successiveframe, cause the image stabilizing arrangement to relocate one or bothof the camera lens and the image sensor to a respective desired startposition for the second successive frame.

In some examples, the computer readable medium may further includeinstructions configured to cause the controller, during at least aportion of the time interval, to synchronously relocate one or both ofthe camera lens and the image sensor by controlling a slew motion of thecamera lens or image sensor.

In some examples, the computer readable medium may further includeinstructions configured to cause the controller to select the respectivedesired start position so as to reduce one or both of (i) likelihood ofrailing and (ii) power consumption.

In some examples, the computer readable medium may further includeinstructions configured to cause the controller to monitor and controlone or more of exposure time, effective readout time, lens/sensorrelocation time and frame period.

In some examples, controlling one or more of the exposure time, theeffective readout time, the lens/sensor relocation time and the frameperiod may include causing the sum of the exposure time, the effectivereadout time and the lens/sensor relocation time to be less than theframe period.

According to some implementations, an apparatus for optical imagestabilization (OIS) of a camera system includes a lens of the camerasystem; an image stabilizing arrangement, including one or both of: animage sensor optically coupled with the camera lens, means for shiftingor rotating one or both of the lens and the image sensor; and acontroller, the controller communicatively coupled with the imagestabilizing arrangement and at least one motion sensor for measuringcamera motion. The controller is configured to: receive measured cameramotion information from the at least one motion sensor; prior toacquisition of a succession of image frames, determine a first desiredstart position, for one or both of the camera lens and the image sensor;during acquisition of each respective image frame in the succession ofimage frames, cause the image stabilizing arrangement to shift or rotateone or both of the camera lens and the image sensor so as to compensatefor the measured camera motion; and, during a time interval that fallsat least partially between a first successive frame and a secondsuccessive frame, relocate one or both of the camera lens and the imagesensor to a second desired start position for the second successiveframe.

In some examples, the controller may be configured to synchronouslyrelocate, during at least a portion of the time interval, one or both ofthe camera lens and the image sensor by controlling a slew motion of thecamera lens or image sensor.

In some examples, the controller may be configured to select at leastone of the first and second respective desired start position so as toreduce one or both of (i) likelihood of railing and (ii) powerconsumption.

In some examples, the respective desired start position may proximate toa geometrically neutral position.

In some examples, the second desired start position may be disposed,with respect to a geometrically neutral position and with respect to anend position reached at completion of an immediately preceding frame,such that the geometrically neutral position is approximately midwaybetween the second desired start position and the end position.

In some examples, the time interval may fall entirely between the firstsuccessive frame and the second successive frame.

In some examples, the time interval may at least partially overlaps oneor both of the first successive frame and the second successive frame.

In some examples, the controller may be configured to monitor andcontrol one or more of exposure time, effective readout time,lens/sensor relocation time and frame period so as to cause the sum ofthe exposure time, the effective readout time and the lens/sensorrelocation time to be less than the frame period.

BRIEF DESCRIPTION OF THE DRAWINGS

Details of one or more implementations of the subject matter describedin this specification are set forth in this disclosure and theaccompanying drawings. Other features, aspects, and advantages willbecome apparent from a review of the disclosure. Note that the relativedimensions of the drawings and other diagrams of this disclosure may notbe drawn to scale. The sizes, thicknesses, arrangements, materials,etc., shown and described in this disclosure are made only by way ofexample and should not be construed as limiting. Like reference numbersand designations in the various drawings indicate like elements.

FIG. 1 illustrates an example of a railing phenomenon resulting from awalking motion.

FIG. 2 illustrates an example of an apparatus for synchronous opticalimage stabilization (OIS) of a camera system, according to animplementation.

FIG. 3 illustrates synchronous OIS operation as a function of time,according to some implementations.

FIG. 4 illustrates examples of modelled OIS operation as a function oftime, according to some implementations.

FIG. 5 illustrates another example of modelled OIS operation as afunction of time, according to some implementations.

FIG. 6 illustrates an example of a camera lens arrangement of a cameraequipped with OIS, according to some implementation.

FIG. 7 illustrates OIS operation as a function of time, according tosome implementations.

FIG. 8 illustrates an example plot of image blur as a function of lightsensitivity (ISO) and exposure time.

FIG. 9 illustrates an example of modelled OIS operation as a function oftime, according to some implementations.

FIG. 10 illustrates OIS operation as a function of time, according tosome further implementations.

FIG. 11 illustrates OIS operation as a function of time, according to ayet further implementations.

FIG. 12 illustrates an example of auto exposure performance improvementaccording to some implementations.

FIG. 13 illustrates an example of a process flow for optical imagestabilization in a camera system, according to an implementation.

FIG. 14 illustrates an example of a process flow for optical imagestabilization in a camera system, according to another implementation.

FIG. 15 illustrates an example of a process flow for optical imagestabilization in a camera system, according to a yet furtherimplementation.

DETAILED DESCRIPTION

The following description is directed to certain implementations for thepurposes of describing the innovative aspects of this disclosure.However, a person having ordinary skill in the art will readilyrecognize that the teachings herein may be applied in a multitude ofdifferent ways. The described implementations may be implemented in anydevice, apparatus, or system that includes a millimeter bandcommunications capability. In addition, it is contemplated that thedescribed implementations may be included in or associated with avariety of electronic devices such as, but not limited to: mobiletelephones, multimedia Internet enabled cellular telephones, mobiletelevision receivers, wireless devices, smartphones, smart cards,wearable devices such as bracelets, armbands, wristbands, rings,headbands and patches, etc., Bluetooth® devices, personal dataassistants (PDAs), wireless electronic mail receivers, hand-held orportable computers, netbooks, notebooks, smartbooks, tablets, printers,copiers, scanners, facsimile devices, global positioning system (GPS)receivers/navigators, cameras, digital media players (such as MP3players), camcorders, game consoles, wrist watches, clocks, calculators,television monitors, flat panel displays, electronic reading devices(e.g., e-readers), mobile health devices, computer monitors, autodisplays (including odometer and speedometer displays, etc.), cockpitcontrols and/or displays, steering wheels, camera view displays (such asthe display of a rear view camera in a vehicle), electronic photographs,electronic billboards or signs, projectors, architectural structures,microwaves, refrigerators, stereo systems, cassette recorders orplayers, DVD players, CD players, VCRs, radios, portable memory chips,washers, dryers, washer/dryers, automated teller machines (ATMs),parking meters, packaging (such as in electromechanical systems (EMS)applications including microelectromechanical systems (MEMS)applications, as well as non-EMS applications), aesthetic structures(such as display of images on a piece of jewelry or clothing) and avariety of EMS devices. The teachings herein also may be used inapplications such as, but not limited to, electronic switching devices,radio frequency filters, sensors, accelerometers, gyroscopes,motion-sensing devices, magnetometers, inertial components for consumerelectronics, parts of consumer electronics products, varactors, liquidcrystal devices, electrophoretic devices, drive schemes, manufacturingprocesses and electronic test equipment. Thus, the teachings are notintended to be limited to the implementations depicted solely in theFigures, but instead have wide applicability as will be readily apparentto one having ordinary skill in the art.

The systems, methods and devices of the disclosure each have severalinnovative aspects, no single one of which is solely responsible for thedesirable attributes disclosed herein. The subject matter described inthis disclosure can be implemented in connection with synchronousoptical image stabilization (OIS) system that includes operating one ormore actuators coupled with a camera lens and/or a sensor. The actuatorsmay tilt and/or rotate the lens and/or sensor relative to the camerasystem in at least one of the pitch, roll, and yaw directions. Theactuators are subject to mechanical range of motion limits. Cameramotion, including one or both of rotation and translation, in theabsence of the presently disclosed techniques, may drive one or more ofthe actuators to a range of motion limit (i.e., cause the actuator to“rail”). In an event of actuator “railing”, undesirable imagedistortions arise. In the absence of the presently disclosed techniques,an actuator, that may typically be a voice coil motor (VCM) actuatorhaving a range of motion of +/−1-2 degrees, may experience frequentrailing, particularly when the camera is continuous still shot previewmode or video and particularly in use cases that include camera panningor user motion, due to walking or running, using the camera in a movingand/or vibrating vehicle. FIG. 1 illustrates an example of a railingphenomenon resulting from a walking motion, for an actuator having arange of motion of +/−1°. It may be observed that the OIS enters arailed state a large number of times (more than once per second) duringthe 30 second modeled period.

The presently disclosed techniques substantially reduce the frequencyand number of instances in which railing occurs for many use casescenarios, while also reducing power consumption of the OIS arrangement.In some implementations, this is accomplished by synchronizing actuatormotion with exposure duration of an image data acquisition frame. Insome implementations, camera motion is compensated during the exposureduration of a given (first) frame, and, during an interval betweentermination of the first frame and initiation of a subsequent (second)frame, the actuator is moved back to a new starting position.Advantageously, the new starting position may be selected with anobjective of reducing likelihood that railing will occur during theduration of the subsequent frame and/or to reduce power. Because, for atleast a VCM actuator, power consumption increases as a function ofactuator excursion away from a neutral (centered) position, the presenttechniques can reduce power consumption by maintaining the actuator, onaverage, closer to the neutral position.

FIG. 2 illustrates an example of an apparatus for synchronous opticalimage stabilization (OIS) of a camera system, according to animplementation. In the illustrated implementation, a camera system 200the apparatus includes a lens 210 and an image stabilizing arrangement(ISA) 220. The ISA 220 may include an image sensor 222 optically coupledwith the lens 210 and an actuator 224 mechanically coupled with the lens210 and/or the sensor 222. The actuator 224, which in someimplementations may be a voice coil motor (VCM) actuator, may beconfigured to rotate the lens 210 about one or more axes (pitch and/oryaw axes) orthogonal to an optical axis 211.

The apparatus further includes a controller 2000, communicativelycoupled with the ISA 220 and at least one motion sensor 2030 formeasuring camera motion. The motion sensor 2030 may be or include agyroscope, an accelerometer, and/or any other type of motion sensor. Insome implementations, during acquisition of a succession of imageframes, the controller 2000 may be configured to determine, based onconsiderations described hereinbelow, a respective desired startposition, for one or both of the of the camera lens 210 and the imagesensor 222 for each respective frame. The controller 2000 may further beconfigured to control the ISA 220 such that, during acquisition of eachimage frame, the ISA 220 shifts one or both of the lens 210 and theimage sensor 222 so as to compensate for the camera motion sensed bymotion sensor 2030. In addition the controller 2000 may be configured tocause the ISA 220 to relocate, between a first successive frame and asecond successive frame, one or both of the lens 210 and the motionsensor 2020 to the determined respective desired start position for thesecond successive frame.

FIG. 3 illustrates synchronous OIS operation as a function of time,according to some implementations. Referring first to Detail A, for a“global shutter” operating mode, a camera acquiring successive frames ofimage data may operate at a frame rate of ‘n’ frames per second (fps),each frame requiring an exposure time of ‘t’ seconds. It will beappreciated that, where ‘t’ is less than 1/‘n’, an interval will existbetween each two successive frames during which image acquisition is nottaking place. For example, if n=30 and t′=15 msecs, an interval of about18 msecs (1000/30−15 msecs) will be “unused time”, that is, time duringwhich image data is not acquired, also referred to as “blackout” time.During an ‘exposure’ period of Frame 1, the controller 2000 may beconfigured to control actuator 224 and/or the image sensor 222 to causethe lens or sensor to compensate for motion registered by motion sensor2030. During the “unused time” between acquiring frame 1 and frame 2,the controller 2000 may be configured to cause the actuator 224 and/orthe image sensor 222, to transition to a desired start position.Advantageously, the desired start position is determined by thecontroller so as to meet one or a combination of the followingobjectives: (1) reducing the likelihood that, in frame 2, the actuator224 or the image sensor 222 will be driven to a range of motion limit;and (2) reducing power consumption. The second objective may be met, insome implementations, by returning the actuator 224 to or near a“neutral” position, as will be described in more detail hereinbelow.

Advantageously, the disclosed techniques permit a constraint, foreffective image stabilization, that camera motion never exceeds anactuator range of motion to be replaced with a much weaker constraintthat camera motion not exceed the actuator range during a single frameexposure period.

Referring now to Detail B of FIG. 3 for a “rolling shutter” operatingmode, where a camera acquiring successive frames of image data operatesat a frame rate of ‘n’ frames per second (fps), the duration of eachframe is the sum of an exposure time and “read-out time”. It will beappreciated that, where the frame duration plus read-out time is lessthan 1/‘n’ an interval will exist between each two successive framesduring which image acquisition is not taking place, as describedhereinabove. During the “unused time” between acquiring frame 1 andframe 2, the controller 2000 may be configured to cause the actuator 224and/or the image sensor 222, to transition to a desired start position.As indicated above, the desired start position may be determined by thecontroller so as to reduce the likelihood that, in frame 2, the actuator224 or the image sensor 222 will be driven to a range of motion limit;and/or to reduce power consumption.

FIG. 4 illustrates examples of modelled OIS operation as a function oftime, according to some implementations. Referring first to Detail C,plot 410 shows a simplified example of a modeled or simulated motion ofa camera with respect to time. Limit lines 421 and 422 denote,respectively, an upper and lower range of motion limit assumed for thecamera's OIS actuator and/or sensor. In the example simulation, imagedata is acquired at 5 fps, with a short (<10 ms) “unused time” betweensuccessive frames. Line segments 433 represent motion of the lens orsensor as a function of time during each of a succession of frames. Linesegments 434 (dashed) represent motion of the lens or sensor as afunction of time during intervals between a succession of frames. Duringthe unused time between two successive frames, the lens or image sensormay be quickly slewed to a to desired start position for the succeedingframe. In the illustrated example, the OIS operation may result inmotion of the lens or sensor from point ‘A’ to point ‘B’ during frame‘n’ so as to compensate for camera motion. Following termination offrame ‘n’ and prior to initiation of frame n+1, the lens or sensor maybe slewed from point B to point C. Point C may be selected with anobjective of avoiding railing during frame n+1 and/or to reduce OISpower consumption. The OIS operation may then result in motion of thelens or sensor from point ‘C’ to point ‘D’ during an frame n+1 so as tocompensate for camera motion, followed by a slew from point ‘D’ to point‘E’.

In some implementations the desired start point and/or the magnitude anddirection of the slew motion may be determined as a function of measuredcamera angular rate, a, and frame duration. For example, the angularmotion slew motion may be calculated according to the formula: −α*frameduration/2. Such an approach will tend to result in slew motion that ismotion symmetrical with respect to a neutral position and maximizes thelens/sensor motion reserve on both sides and works well when the cameramotion is slow or periodic predictable motion (panning, walking).

Alternatively, where the motion is random, slew motion may be set so asto return the lens/sensor to the neutral position before each new frame

Details D and E illustrate a similar OIS operation technique as DetailC, for a higher frame rate (30 fps) with a few msecs unused time betweeneach frame. It may be observed that, for the illustrated simulation, thelens/sensor is always within less than 0.25 degrees from neutral (i.e.,exhibits ample margin with respect to the rail limits) notwithstandingthat camera angle varies from −2 to 2 degrees.

Although for simplicity of illustration, FIG. 4 depicts angular positionas a function of time for the camera (plot 410) and the lens/sensor(line segments 433 and 434), with respect to a single axis it will beappreciated that camera motion may be angular (typically measuredgyroscopically) or linear (typically measured by an accelerometer orother motion sensor) with respect to two or more axes. Moreover,regardless of the nature of the camera motion, compensating motion ofthe lens/sensor may be linear and/or angular with respect to two or moreaxes.

FIG. 5 illustrates another example of modelled OIS operation as afunction of time, according to some implementations. In the illustratedexample, a simulation of video operation at 30 fps with a 5 ms “unusedtime” between each frame is depicted on an expanded time scale, it maybe observed that during each successive “unused time” interval, thelens/sensor is slewed about 0.4 degrees, with a maximum excursion fromthe neutral (0 degree angle) of about 0.2 and −0.2 degrees. Plots 501and 502 depict, respectively, an OIS controller angle input and anactual angular position (determined from linear displacements measuredwith a Hall sensor).

As indicated hereinabove, OIS power consumption substantially depends onthe lens/sensor distance from neutral position particularly for a VCMactuator. Referring again to FIG. 4, Detail D, where OIS motion ismoderate, the lens/sensor can be kept always close to neutral positionthus reducing power consumption. In some use cases, then, lens/sensorbetween-frame slew strategy for power optimization may be similar to astrategy optimized for railing prevention.

However, in some implementations, a preferred neutral position may beselected based on power minimization considerations may be differentfrom a preferred neutral position selected only to prevent railing. Forrailing prevention, a maximum compensation range (margin) may beachieved with an average lens/sensor position approximately at geometriccenter (neutral position). For power minimization, an averagelens/sensor position may advantageously be chosen at the location wheregravity, in combination with lens supporting springs, would pull it withOIS completely de-activated. This in turn will depend on cameraorientation (e.g., whether the camera is operating landscape or portraitmode).

FIG. 6 illustrates an example of a camera lens arrangement of a cameraequipped with OIS, according to some implementations. The camera lensarrangement includes a lens suspended with one or more springs and/ormagnet. When the camera is powered down, block 602, the lens positionmay be passively floating. However when the camera is powered up(initialized), it may be necessary to actively maintain position controlof the lens in a known, stable, position even when OIS is off, block 604(e.g., in a preview mode or in some video modes). A common OIS designincludes a spring lens suspension, as illustrated in FIG. 6, configuredas a VCM actuator which is configured to move the lens s required byusing VCM Lorentz force. VCM current draw will be generally proportionalto magnitude of the lens shift from a neutral position. In an idealizedmodel of an actual arrangement, the centered lens (OIS off) should notrequire any current whatsoever, with the springs mechanically trimmed tonaturally keep the lens in the neutral central position. However,because, for example camera image acquisition may be may be performedvarious camera orientations, gravity pull on the lens may vary. In caseswhere the neutral (zero power) lens position is optimized for a level(face up) camera, as would be typical in the absence of the presentteachings, maintaining a neutral lens position when the camera is inportrait or landscape orientation requires a current, sometimessubstantial. As a result, an OIS control loop may be required to keepthe lens centered and prevent its bouncing due to camera motion, at apower cost on the order of 20-100 milliamps simply to counter effects ofgravity, whether or not the OIS is off, block 604 or the OIS is on,block 606.

In an implementation, the OIS-off lens neutral position is selected tobe where the spring force will balance the gravity force, and not,necessarily, in the mechanical center. Such a gravity-adjusted neutralposition, while ordinarily fairly close to the mechanical center, willbe thus different in portrait and landscape mode. Rather than the OIScontroller resisting the gravity force, the disclosed techniquescontemplate letting gravity displace the lens. The OIS controller thenmay be configured to only apply a small stabilization force (current) tominimize lens mechanical tremor in that position. While the phone iskept in particular portrait or landscape position, a DC currentcomponent of power required to maintain position will be nearlyeliminated, with only small AC current required for dynamicstabilization against camera vibrations or tremor.

Referring still to FIG. 6, when OIS is switched on, block 606, theprocessor may be configured to reduce railing and power consumptionsimultaneously. For example, in some implementations, the processor maybe configured to locate the lens/sensor, symmetrically with respect tothe gravity neutral position. In conditions of relatively mild motionand with short frame interval (fast fps, as illustrated in FIG. 4,Detail D), power consumption and incidents of railing may both beminimized. In other use case conditions (FIG. 4, Detail C, for example)in order to avoid railing, some increase in power consumption may bejustified. Referring again to FIG. 6, when OIS is in a “manual control”mode, block 608, a user or host processor may select a mode thatprioritizes power saving over railing prevention or vice versa.

In some implementations, the gravity-adjusted neutral position may bedetermined by one or more calibration processes. Assuming repeatablespring parameters on each phone of a given model, the calibration may bedone just once on a pilot phone in factory. Alternatively, calibrationmay be performed on each phone, prior to delivery to a user (“factorycalibration”), or (preferably, in a “background operation”) afterdelivery to the user.

In an implementation, factory calibration in the portrait and landscapeorientations may be performed by, in each orientation position, sendingsynthetic control signal to move lens up-down and measure either the VCMcurrent or the on-battery current to find the optimal position with theminimum current.

In some implementations, a background calibration may be performed by(1) centering the lens and capturing an image; (2) letting the lens dropto a neutral position for a given phone orientation by disabling theVCM/Hall servo loop, and capturing an image; and (3) measuring thevertical shift of key points between the two acquired images, convert todegrees then into the VCM displacement. The VCM displacement willcorrespond to the minimum power lens offset from the geometric center.

While, in typical usage, most images will be captured in eitherlandscape or portrait mode, a camera may be held at other angles duringa shooting session. It may be advantageous to use an accelerometer todetermine the camera's pose finer than just selecting between landscapeand portrait. To the extent that the springs in the X and Y directionsare linear (which is very likely true) a resting position of the lensgiven the angle of the phone with respect to gravity may be directlyascertained. The gravity vector is easily determined from theaccelerometer. If the phone is held stable at an intermediate angle, thecenter of the lens could be moved to the lowest power position dependingon the angle of the phone with respect to gravity, not just forlandscape and portrait positions.

As indicated hereinabove, in connection with FIGS. 3-5, in some use casescenarios, there will be adequate time (e.g. 5-10 ms) to relocate thelens or image sensor between the completion of data acquisition of oneimage frame and start of data acquisition for an immediately succeedingimage frame. In some use cases, however, insufficient time may beavailable, in the absence of some further mitigating steps that will nowbe described. FIG. 7 illustrates OIS operation as a function of time,according to some implementations. Referring first to Detail F, it maybe observed that in the illustrated rolling shutter mode of operation,there is no time available between frames to relocate the lens or imagesensor. Details G and H illustrate two techniques for mitigating thisproblem. Referring first to Detail G, in a “digital zoom” mode (in whichgood OIS performance may be particularly important), the effectivereadout time will be reduced as a result of some of the sensor rowsbeing ignored (not read or discarded in post processing). The shortereffective readout time (which may be characterized as Effective ReadoutTime=Native Readout Time/Zoom, zoom being 1 for a non-zoomed image) mayyield a sufficient “unused time” in which to execute a relocation of thelens/sensor between frames.

Alternatively, or in addition, video cropping may further some top andbottom rows too, for example about 20% of total image, as illustrated inDetail H. The effective readout time may be reduced similarly to thatdigital zoom, but the image rows (as well as columns) may be removed inunequal proportion. Where zoom and video cropping are both performed,the effective readout time may be characterized as Effective ReadoutTime=Native Readout Time/Zoom*(1.0−Cropping Margin).

Reducing the effective readout time, whether by video zoom or cropping,is desirable because synchronous OIS is most advantageously performedwhen the sum of exposure time, effective readout time and lens/sensorrelocation time (including settling time) is less than the frame period.In some implementations, one or more of the exposure time, thelens/sensor relocation time and the frame period are adjusted to enhancesynchronous OIS performance, as will now be described. In yet otherimplementations, the sum of exposure time, effective readout time andlens/sensor relocation time (including settling time) may exceed theframe period, but techniques are implemented whereby observable imagequality degradation is minimized.

First, exposure time, in some implementations, may be reduced. Althoughan important aspect of OIS is reducing blur for long exposure times, amore optimum image quality may sometimes be obtained by reducingexposure times in order to enable synchronous OIS. FIG. 8 illustrates anexample plot of image blur as a function of light sensitivity (ISO) andexposure time. Plot 801 illustrates how, in the absence of OIS (whetherbecause OIS is disabled, or the lens/sensor is railed), image blur(scale left) varies with ISO and exposure time (scale right). In theillustrated example, it is assumed that synchronous OIS cannot beperformed unless exposure time is less than about 0.06 msec. Whenexposure time is reduced below 0.06 msec, however, a significantimprovement in image blur for the same ISO value may be achieved. Asshown by plot 802, at an ISO of about 300, enabling synchronous OISreduces blur from about 3 pixels to less than one pixel. Accordingly, insome implementations, synchronous OIS feasibility, and image quality, isincreased by rebalancing auto exposure parameters of exposure vs ISO

Second, lens/sensor relocation time, in some implementations, may bereduced. For example, in use cases in which camera motion is limited(e.g., in some implementations, the motion is not greater in magnitudethan twice the OIS actuator range) the lens/sensor may be relocatedbetween frames a distance less than might otherwise be selected on thebasis solely of minimizing risk of railing and/or power consumption.FIG. 9 illustrates an example of modelled OIS operation as a function oftime, according to some implementations. Similarly to Detail D of FIG.4, plot 910 in FIG. 9 shows an example of a modeled or simulated angularmotion of a camera with respect to time. Limit lines 921 and 922 denote,respectively, an upper and lower range of motion limit assumed for thecamera's OIS actuator and/or sensor. Plot 934 presents OIS angle as afunction of time, optimized for reducing risk of railing and/or powerconsumption. Plot 944 represents an alternative strategy that providesfor shorter relocation times, while still preventing OIS railing.Because the lens/sensor slew distance is smaller than in plot 934,relocation time as well as ringing amplitude is reduced and fastersettling can be expected. Stress on actuator hardware may also bereduced; however, the strategy of plot 944 can be expected to requiremore power than that of plot 934.

Third, an effective frame period may be increased, in someimplementations. For example, when the camera is in a “Still ShotPreview” mode, there may not be a strict frame per second requirement.In some implementations, the frame rate may be lowered in when thecamera is in still shot preview mode to ensure unused timeout betweenframes, sufficient for relocation of the lens/sensor. As a furtherexample, situations may occur when the camera is in video mode, at aframe rate and operating conditions where the sum of exposure time,effective readout time and lens/sensor relocation time (includingsettling time) is not less than the frame period. In someimplementations, these situations are accommodated by performingsynchronous OIS during every second frame (odd or even frames),effectively downconverting from a native frame rate (e.g., 60 fps) to adownconverted frame rate of 30 fps. The unused frames are discarded, andthe resulting frame sequence may be digitally upconverted back to thenative frame rate.

Finally, in some use cases, the sum of exposure time, effective readouttime and lens/sensor relocation time (including settling time) mayexceed the frame period, but synchronous OIS techniques are adapted tominimize observable image quality degradation. FIG. 10 illustrates OISoperation as a function of time, according to some furtherimplementations. In the illustrated example, lens/sensor relocation timeexceeds the time available between successive frames. Synchronous OISmay still be performed during a time interval that partially overlaps(in the illustrated example) the end of a first successive frame and thebeginning of a second successive frame. As represented by thecross-hatched regions 1001, and 1002, there will exist some rows duringwhich the lens/sensor is being relocated. The image quality of thoserows will be adversely effected, but these rows may represent a smallfraction of the total image, which, quality of which will be improved bythe OIS techniques.

FIG. 11 illustrates OIS operation as a function of time, according to ayet further implementations. In the illustrated example, where exposuretime is long relative to the lens/sensor relocation time, synchronousOIS may be carried out for most of the exposure period, with a smallpercentage of that time (at the beginning and/or end of frame) used forlens/sensor relocation. During lens/sensor relocation, some blurringwill be experienced, but, because the relocation duration constitutesonly a small percentage of the entire exposure, a resulting degradationin image will not totally offset the benefit obtained by performingsynchronous OIS.

In certain use cases, the OIS may ordinarily be disabled (e.g., when thecamera is tripod mounted or is operating an electronic imagestabilization (EIS) process that is incompatible with a mechanical OIS.The presently disclosed techniques may nevertheless have application tosome of these use cases.

First, whether or not OIS is disabled, power saving aspects of thepresent disclosure may be implemented. More particularly, as describedhereinabove, the OIS-off lens neutral position may still be selected tobe where the spring force will balance the gravity force, and not,necessarily, in the mechanical center. Such a gravity-adjusted neutralposition will be thus different in portrait and landscape mode, andclose to the mechanical center for the level phone. While the phone iskept in particular portrait or landscape position, a DC currentcomponent of power required to maintain position will be nearlyeliminated.

Second, a controller may be configured to cause an image stabilizingarrangement to shift one or both of the camera lens and the image sensorso as to compensate for certain motions unrelated to camera unsteadinessor jitter. An example use case may be astronomical photography with atripod-mounted camera. Instead or in addition to moving the camera tofollow a precomputed position of a planet, satellite or otherastronomical object during a very long exposure, the controller may beconfigured to relocate the lens/sensor along a corresponding trackwithin the OIS range of motion. On each successive new frame the imagedastronomical object will be in a different position, but always in sharpfocus. A further example use case may relate to following a trackedmoving target. Where near real time knowledge of a target's azimuthangle with respect to the camera is available, the controller may beconfigured to relocate the lens/sensor along a corresponding trackwithin the OIS range of motion. Where a target's range is likewiseknown, imaging of the target may be performed with continuously adjustedfocus and little or no blurring.

Finally, in some use cases relying primarily on EIS, aspects of thepresent disclosure may improve the performance of the EIS system. Forexample, in the context of EIS for video imaging, the EIS may have a 6-7degree peak-to-peak range over which apparent image stabilization can beachieved by selectively cropping succeeding frames of a video sequenceof frames. A larger oscillation (due, for example to the cameraoperator's motion while walking or running) may result in imagejumpiness. In some implementations, this problem may be mitigated byconfiguring the OIS controller, in response to inputs from an EIS cameraposition estimator, to relocate the lens/sensor between frames. Based onthe inputs from the EIS camera position estimator, an averagelens/sensor position on the upcoming frame may be selected. When, forexample the camera is moving up, the lens/sensor average position shouldmove down, effectively reducing image bouncing, hence expanding theeffective range over which EIS cropping may be carried out. In someimplementations, a desired target lens/sensor position (controlledthrough the lens/sensor jump size and direction between adjoiningframes) may be communicated before each frame from the EIS to the OIScontroller. Alternatively or in addition improving the EIS croppingmargin, asymmetry of cropped top/bottom rows may be addressed byadjusting the lens/sensor relocation time. For example, when bottom rowsare cropped as shown in Detail H of FIG. 7, the lens/sensor mayadvantageously start relocation a few msec before end of frame. This mayresult in some broken rows at the end (bottom) of a frame, but theserows are, anyway expected to be discarded. Beneficially, an earlierlens/sensor settling time helps ensure that the top rows of the nextframe will be undisturbed. This adjustment may be made based on acropping status input received from the EIS.

As indicated in connection with FIG. 8 hereinabove, in some use casesimage quality may be increased by rebalancing auto exposure parametersof exposure vs ISO. FIG. 10 illustrates an example of auto exposureperformance improvement according to some implementations. In FIG. 12,Details J and L present motion blur as a function of exposure time,whereas Details K and M present auto exposure settings of ISO vsExposure time, for a given optimal luminosity value. Referring now toDetail J, plots 1260, 1270 and 1280 relate to motion blur vs exposurefor, respectively, fast motion where OIS is disabled or inoperative,moderate motion with OIS disabled, and moderate motion with IOSoperating. Referring to Detail K, for each of the three motionconditions 1260, 1270 and 1280, the auto exposure function may find anoptimum setting of ISO vs exposure time, respectively, points 1206, 1207and 1208. Referring now to Details L and M, the present inventors haveappreciated that, where synchronous OIS is available, motion blur due tofast motion can be substantially reduced (plot 1290). As indicatedabove, synchronous OIS is generally feasible only when the sum ofexposure time, effective readout time and lens/sensor relocation time(including settling time) is less than the frame period. Accordingly, insome implementations an auto exposure algorithm is altered to preventselecting an exposure duration greater than a critical value 1209, so asto ensure the availability of synchronous OIS.

FIG. 13 illustrates an example of a process flow for optical imagestabilization in a camera system, according to some implementations. Asdescribed hereinabove, an OIS apparatus may include a lens of the camerasystem, an actuator mechanically coupled with the lens, an image sensoroptically coupled with the camera lens and a controller. The controllermay be communicatively coupled with the image stabilizing arrangementand at least one motion sensor for measuring camera motion, wherein thecontroller. The method 1300 includes a block 1310 of receiving, at thecontroller, measured camera motion information from at least one motionsensor.

At block 1320, during acquisition of a succession of image frames, thecontroller may determine a respective desired start position, for one orboth of the camera lens and the image sensor, for a respective imageframe.

At block 1330, during acquisition of the respective image frame, thecontroller may cause the image stabilizing arrangement to shift one orboth of the camera lens and the image sensor so as to compensate for themeasured camera motion.

At block 1340, between a first successive frame and a second successiveframe, the controller may cause the image stabilizing arrangement torelocate one or both of the camera lens and the image sensor to arespective desired start position for the second successive frame.

Optionally, one or more of the following processes may be executed. Atblock 1350, the controller may synchronously relocate one or both of thecamera lens and the image sensor by controlling a slew motion of thecamera lens or image sensor after acquisition of the first successiveframe and prior to initiating acquisition of the second successiveframe. At block 1360, the controller may select the respective desiredstart position so as to reduce one or both of (i) likelihood of railingand (ii) power consumption. At block 1370, the controller may monitorand control one or more of exposure time, effective readout time,lens/sensor relocation time and frame period.

FIG. 14 illustrates an example of a process flow for optical imagestabilization in a camera system, according to another implementation.The method 1400 includes a block 1410 of receiving, at the controller,measured accelerometer data relating to camera orientation with respectto a gravitational field. The method may conclude, at block 1420, withcausing the actuator to locate the lens at a gravity-adjusted neutralposition, based on the accelerometer data.

Optionally, one or both of the following processes may be executed. Atblock 1430, the controller may receive measured camera motioninformation from at least one motion sensor. Prior to acquisition of asuccession of image frames, the controller may determine a first desiredstart position for the camera lens. During acquisition of eachrespective image frame in the succession of image frames, the controllermay cause the image stabilizing arrangement to shift the camera lens soas to compensate for the measured camera motion. Between a firstsuccessive frame and a second successive frame, the controller may causethe stabilizing arrangement to slew the camera lens to a second desiredstart position for the second successive frame. At block 1440, thecontroller may monitor and control one or more of exposure time,effective readout time, lens relocation time and frame period.

FIG. 15 illustrates an example of a process flow for optical imagestabilization in a camera system, according to a yet furtherimplementation. The method 1500 includes a block 1510 of synchronouslyrelocating, with the controller, one or both of the camera lens and theimage sensor by controlling a slew motion of the camera lens or imagesensor after acquisition of a first successive frame and prior toinitiating acquisition of a second successive frame, the controllerbeing communicatively coupled with the image stabilizing arrangement andat least one motion sensor for measuring camera motion.

At block 1520, the controller may monitoring and control one or more ofexposure time, effective readout time, lens relocation time and frameperiod. At block 1530, the controller may rebalance the auto exposurealgorithm such that the exposure time is less than a critical value.

Optionally, the method may continue, at block 1540, with the controller,prior to acquisition of a succession of image frames, determining afirst desired start position, for one or both of the camera lens and theimage sensor; during acquisition of each respective image frame in thesuccession of image frames, causing the image stabilizing arrangement toshift one or both of the camera lens and the image sensor so as tocompensate for the measured camera motion; and between a firstsuccessive frame and a second successive frame, relocating one or bothof the camera lens and the image sensor to a second desired startposition for the second successive frame.

Thus, techniques for synchronous optical image stabilization have beendisclosed. It will be appreciated that a number of alternativeconfigurations and operating techniques may be contemplated.

As used herein, a phrase referring to “at least one of” a list of itemsrefers to any combination of those items, including single members. Asan example, “at least one of: a, b, or c” is intended to cover: a, b, c,a-b, a-c, b-c, and a-b-c.

The various illustrative logics, logical blocks, modules, circuits andalgorithm processes described in connection with the implementationsdisclosed herein may be implemented as electronic hardware, computersoftware, or combinations of both. The interchangeability of hardwareand software has been described generally, in terms of functionality,and illustrated in the various illustrative components, blocks, modules,circuits and processes described above. Whether such functionality isimplemented in hardware or software depends upon the particularapplication and design constraints imposed on the overall system.

The hardware and data processing apparatus used to implement the variousillustrative logics, logical blocks, modules and circuits described inconnection with the aspects disclosed herein may be implemented orperformed with a general purpose single- or multi-chip processor, adigital signal processor (DSP), an application specific integratedcircuit (ASIC), a field programmable gate array (FPGA) or otherprogrammable logic device, discrete gate or transistor logic, discretehardware components, or any combination thereof designed to perform thefunctions described herein. A general purpose processor may be amicroprocessor or any conventional processor, controller,microcontroller, or state machine. A processor also may be implementedas a combination of computing devices, e.g., a combination of a DSP anda microprocessor, a plurality of microprocessors, one or moremicroprocessors in conjunction with a DSP core, or any other suchconfiguration. In some implementations, particular processes and methodsmay be performed by circuitry that is specific to a given function.

In one or more aspects, the functions described may be implemented inhardware, digital electronic circuitry, computer software, firmware,including the structures disclosed in this specification and theirstructural equivalents thereof, or in any combination thereof.Implementations of the subject matter described in this specificationalso may be implemented as one or more computer programs, i.e., one ormore modules of computer program instructions, encoded on a computerstorage media for execution by or to control the operation of dataprocessing apparatus.

If implemented in software, the functions may be stored on ortransmitted over as one or more instructions or code on acomputer-readable medium, such as a non-transitory medium. The processesof a method or algorithm disclosed herein may be implemented in aprocessor-executable software module which may reside on acomputer-readable medium. Computer-readable media include both computerstorage media and communication media including any medium that may beenabled to transfer a computer program from one place to another.Storage media may be any available media that may be accessed by acomputer. By way of example, and not limitation, non-transitory mediamay include RAM, ROM, EEPROM, CD-ROM or other optical disk storage,magnetic disk storage or other magnetic storage devices, or any othermedium that may be used to store desired program code in the form ofinstructions or data structures and that may be accessed by a computer.Also, any connection may be properly termed a computer-readable medium.Disk and disc, as used herein, includes compact disc (CD), laser disc,optical disc, digital versatile disc (DVD), floppy disk, and blu-raydisc where disks usually reproduce data magnetically, while discsreproduce data optically with lasers. Combinations of the above shouldalso be included within the scope of computer-readable media.Additionally, the operations of a method or algorithm may reside as oneor any combination or set of codes and instructions on a machinereadable medium and computer-readable medium, which may be incorporatedinto a computer program product.

Various modifications to the implementations described in thisdisclosure may be readily apparent to those skilled in the art, and thegeneric principles defined herein may be applied to otherimplementations without departing from the spirit or scope of thisdisclosure. Thus, the disclosure is not intended to be limited to theimplementations shown herein, but is to be accorded the widest scopeconsistent with the claims, the principles and the novel featuresdisclosed herein. The word “exemplary” is used exclusively herein, if atall, to mean “serving as an example, instance, or illustration.” Anyimplementation described herein as “exemplary” is not necessarily to beconstrued as preferred or advantageous over other implementations.

Certain features that are described in this specification in the contextof separate implementations also may be implemented in combination in asingle implementation. Conversely, various features that are describedin the context of a single implementation also may be implemented inmultiple implementations separately or in any suitable subcombination.Moreover, although features may be described above as acting in certaincombinations and even initially claimed as such, one or more featuresfrom a claimed combination may in some cases be excised from thecombination, and the claimed combination may be directed to asubcombination or variation of a subcombination.

Similarly, while operations are depicted in the drawings in a particularorder, this should not be understood as requiring that such operationsbe performed in the particular order shown or in sequential order, orthat all illustrated operations be performed to achieve desirableresults. Further, the drawings may schematically depict one more exampleprocesses in the form of a flow diagram. However, other operations thatare not depicted may be incorporated in the example processes that areschematically illustrated. For example, one or more additionaloperations may be performed before, after, simultaneously, or betweenany of the illustrated operations. In certain circumstances,multitasking and parallel processing may be advantageous. Moreover, theseparation of various system components in the implementations describedabove should not be understood as requiring such separation in allimplementations, and it should be understood that the described programcomponents and systems may generally be integrated together in a singlesoftware product or packaged into multiple software products.Additionally, other implementations are within the scope of thefollowing claims. In some cases, the actions recited in the claims maybe performed in a different order and still achieve desirable results.

It will be understood that unless features in any of the particulardescribed implementations are expressly identified as incompatible withone another or the surrounding context implies that they are mutuallyexclusive and not readily combinable in a complementary and/orsupportive sense, the totality of this disclosure contemplates andenvisions that specific features of those complementary implementationsmay be selectively combined to provide one or more comprehensive, butslightly different, technical solutions. It will therefore be furtherappreciated that the above description has been given by way of exampleonly and that modifications in detail may be made within the scope ofthis disclosure.

What is claimed is:
 1. An apparatus for optical image stabilization(OIS) of a camera system, the apparatus comprising: a lens of the camerasystem; an image stabilizing arrangement, the arrangement including oneor both of an image sensor optically coupled with the camera lens and anactuator mechanically coupled with the one or both of the lens and theimage sensor; and a controller, the controller communicatively coupledwith the image stabilizing arrangement and at least one motion sensorfor measuring camera motion, wherein the controller is configured to:receive measured camera motion information from the at least one motionsensor; prior to acquisition of a succession of image frames, determinea first desired start position, for one or both of the camera lens andthe image sensor; during acquisition of each respective image frame inthe succession of image frames, cause the image stabilizing arrangementto shift or rotate one or both of the camera lens and the image sensorso as to compensate for the measured camera motion; and during a timeinterval that falls at least partially between a first successive frameand a second successive frame, relocate one or both of the camera lensand the image sensor to a second desired start position for the secondsuccessive frame, wherein the second desired start position is disposed,with respect to a geometrically neutral position and with respect to anend position reached at completion of an immediately preceding frame,such that the geometrically neutral position is approximately midwaybetween the second desired start position and the end position, whereinthe geometrically neutral position is a centered position.
 2. Theapparatus of claim 1, wherein the controller is configured tosynchronously relocate, during at least a portion of the time interval,one or both of the camera lens and the image sensor by controlling aslew motion of the camera lens or image sensor.
 3. The apparatus ofclaim 1, wherein the controller is configured to select at least one ofthe first and second respective desired start position so as to reduceone or both of (i) likelihood of railing and (ii) power consumption. 4.The apparatus of claim 1, wherein the time interval falls entirelybetween the first successive frame and the second successive frame. 5.The apparatus of claim 1, wherein the time interval at least partiallyoverlaps one or both of the first successive frame and the secondsuccessive frame.
 6. The apparatus of claim 1, wherein the camera motioninformation includes one or both of rotation and translation.
 7. Theapparatus of claim 1, wherein the controller is configured to drive theactuator to relocate the lens.
 8. The apparatus of claim 1, wherein themotion sensor includes one or more of a gyroscope, an accelerometer orother motion sensor.
 9. A method for optical image stabilization (OIS)of a camera system, the method comprising: receiving, at a controller,measured camera motion information from at least one motion sensor;during acquisition of a succession of image frames, determining, withthe controller, a respective desired start position, for one or both ofa camera lens and an image sensor, for a respective image frame; duringacquisition of the respective image frame, causing the image stabilizingarrangement to shift, under direction of the controller, one or both ofthe camera lens and the image sensor so as to compensate for themeasured camera motion; and during a time interval that falls at leastpartially between a first successive frame and a second successiveframe, relocating, under direction of the controller, one or both of thecamera lens and the image sensor to a respective desired start positionfor the second successive frame, wherein the second desired startposition is disposed, with respect to a geometrically neutral positionand with respect to an end position reached at completion of animmediately preceding frame, such that the geometrically neutralposition is approximately midway between the second desired startposition and the end position, wherein the geometrically neutralposition is a centered position.
 10. The method of claim 9, furthercomprising synchronously relocating, under direction of the controller,during at least a portion of the time interval, one or both of thecamera lens and the image sensor by controlling a slew motion of thecamera lens or image sensor.
 11. The method of claim 9, furthercomprising selecting, with the controller, the respective desired startposition so as to reduce one or both of (i) likelihood of railing and(ii) power consumption.
 12. The apparatus of claim 9, wherein the timeinterval falls entirely between the first successive frame and thesecond successive frame.
 13. The apparatus of claim 9, wherein the timeinterval at least partially overlaps one or both of the first successiveframe and the second successive frame.
 14. The method of claim 9,wherein the camera motion information includes one or both of rotationand translation.
 15. The method of claim 9, wherein relocating thecamera lens includes driving an actuator with the controller.
 16. Themethod of claim 9, further comprising monitoring and controlling, withthe controller, one or more of exposure time, effective readout time,lens/sensor relocation time and frame period.
 17. The method of claim16, wherein controlling one or more of the exposure time, the effectivereadout time, the lens/sensor relocation time and the frame periodincludes causing a sum of the exposure time, the effective readout timeand the lens/sensor relocation time to be less than the frame period.18. A non-transitory computer readable medium storing program code to beexecuted by a controller, the program code comprising instructionsconfigured to cause the controller to: receive measured camera motioninformation from at least one motion sensor; during acquisition of asuccession of image frames, determine a respective desired startposition, for one or both of a camera lens and an image sensor, for arespective image frame; during acquisition of the respective imageframe, cause the image stabilizing arrangement to shift one or both ofthe camera lens and the image sensor so as to compensate for themeasured camera motion; and during a time interval that falls at leastpartially between a first successive frame and a second successiveframe, cause the image stabilizing arrangement to relocate one or bothof the camera lens and the image sensor to a respective desired startposition for the second successive frame, wherein the second desiredstart position is disposed, with respect to a geometrically neutralposition and with respect to an end position reached at completion of animmediately preceding frame, such that the geometrically neutralposition is approximately midway between the second desired startposition and the end position, wherein the geometrically neutralposition is a centered position.
 19. The computer readable medium ofclaim 18, further comprising instructions configured to cause thecontroller, during at least a portion of the time interval, tosynchronously relocate one or both of the camera lens and the imagesensor by controlling a slew motion of the camera lens or image sensor.20. The computer readable medium of claim 18, further comprisinginstructions configured to cause the controller to select the respectivedesired start position so as to reduce one or both of (i) likelihood ofrailing and (ii) power consumption.
 21. The computer readable medium ofclaim 18, further comprising instructions configured to cause thecontroller to monitor and control one or more of exposure time,effective readout time, lens/sensor relocation time and frame period.22. The computer readable medium of claim 21, wherein controlling one ormore of the exposure time, the effective readout time, the lens/sensorrelocation time and the frame period includes causing a sum of theexposure time, the effective readout time and the lens/sensor relocationtime to be less than the frame period.
 23. An apparatus for opticalimage stabilization (OIS) of a camera system, the apparatus comprising:a lens of the camera system; an image stabilizing arrangement, includingone or both of: an image sensor optically coupled with the camera lens,means for shifting or rotating one or both of the lens and the imagesensor; and a controller, the controller communicatively coupled withthe image stabilizing arrangement and at least one motion sensor formeasuring camera motion, wherein the controller is configured to:receive measured camera motion information from the at least one motionsensor; prior to acquisition of a succession of image frames, determinea first desired start position, for one or both of the camera lens andthe image sensor; during acquisition of each respective image frame inthe succession of image frames, cause the image stabilizing arrangementto shift or rotate one or both of the camera lens and the image sensorso as to compensate for the measured camera motion; and during a timeinterval that falls at least partially between a first successive frameand a second successive frame, relocate one or both of the camera lensand the image sensor to a second desired start position for the secondsuccessive frame, wherein the second desired start position is disposed,with respect to a geometrically neutral position and with respect to anend position reached at completion of an immediately preceding frame,such that the geometrically neutral position is approximately midwaybetween the second desired start position and the end position, whereinthe geometrically neutral position is a centered position.
 24. Theapparatus of claim 23, wherein the controller is configured tosynchronously relocate, during at least a portion of the time interval,one or both of the camera lens and the image sensor by controlling aslew motion of the camera lens or image sensor.
 25. The apparatus ofclaim 23, wherein the controller is configured to select at least one ofthe first and second respective desired start position so as to reduceone or both of (i) likelihood of railing and (ii) power consumption. 26.The apparatus of claim 23, wherein the time interval falls entirelybetween the first successive frame and the second successive frame. 27.The apparatus of claim 23, wherein the time interval at least partiallyoverlaps one or both of the first successive frame and the secondsuccessive frame.